diff --git a/Universal_Robots_ROS2_Gazebo_Simulation.humble.repos b/Universal_Robots_ROS2_Gazebo_Simulation.humble.repos
index 1487dfb..cbe18ff 100644
--- a/Universal_Robots_ROS2_Gazebo_Simulation.humble.repos
+++ b/Universal_Robots_ROS2_Gazebo_Simulation.humble.repos
@@ -19,3 +19,8 @@ repositories:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
     version: humble
+
+  ur_description:
+    type: git
+    url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
+    version: humble
diff --git a/ur_simulation_gazebo/launch/ur_sim_control.launch.py b/ur_simulation_gazebo/launch/ur_sim_control.launch.py
index 7783f12..1ca31c4 100644
--- a/ur_simulation_gazebo/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gazebo/launch/ur_sim_control.launch.py
@@ -196,7 +196,19 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "ur_type",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
+            choices=[
+                "ur3",
+                "ur3e",
+                "ur5",
+                "ur5e",
+                "ur7e",
+                "ur10",
+                "ur12e",
+                "ur10e",
+                "ur16e",
+                "ur20",
+                "ur30",
+            ],
             default_value="ur5e",
         )
     )
diff --git a/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py b/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
index edae8f0..1e99014 100644
--- a/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
+++ b/ur_simulation_gazebo/launch/ur_sim_moveit.launch.py
@@ -98,7 +98,19 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "ur_type",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
+            choices=[
+                "ur3",
+                "ur3e",
+                "ur5",
+                "ur5e",
+                "ur7e",
+                "ur10",
+                "ur12e",
+                "ur10e",
+                "ur16e",
+                "ur20",
+                "ur30",
+            ],
             default_value="ur5e",
         )
     )
diff --git a/ur_simulation_gazebo/test/test_gazebo.py b/ur_simulation_gazebo/test/test_gazebo.py
index 2f5ab2e..9295188 100644
--- a/ur_simulation_gazebo/test/test_gazebo.py
+++ b/ur_simulation_gazebo/test/test_gazebo.py
@@ -71,7 +71,7 @@
 @pytest.mark.launch_test
 @launch_testing.parametrize(
     "ur_type",
-    ["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
+    ["ur3", "ur3e", "ur5", "ur5e", "ur7e", "ur10", "ur10e", "ur12e", "ur16e", "ur20", "ur30"],
 )
 def generate_test_description(ur_type):
     gazebo = IncludeLaunchDescription(